Publication
A biomechanical perspective for the kinematic analysis of robot manipulators
| dc.contributor.author | Carvalho, Alexandra M. S. F. | |
| dc.contributor.author | Machado, J. A. Tenreiro | |
| dc.date.accessioned | 2016-12-20T15:22:02Z | |
| dc.date.available | 2016-12-20T15:22:02Z | |
| dc.date.issued | 2000 | |
| dc.description.abstract | Mechanical manipulators are described through mathematical models based on the formalisms of the classical physics. The kinematic and dynamic models aloww the study of the phenomena involved , but ar complex to tackle at a design stage. as a consequence, present day robotic structures have porr performances when compared with the human arm. In fact, joint-driven manipulators ar not efficient tasks. Muscle-actuated arms are superior because the anatomic levers adapt the manipulating exigencies to the driving actuators, the kinematic analysis of these systems highlights its main properties and constitutes a step towards the design of new mechanical biological-like robotic structures. | pt_PT |
| dc.description.version | N/A | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/8902 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | Gordon and Breach Science Publishers S.A. | pt_PT |
| dc.subject | Robotics | pt_PT |
| dc.subject | Biomechanics | pt_PT |
| dc.subject | Kinematics | pt_PT |
| dc.title | A biomechanical perspective for the kinematic analysis of robot manipulators | pt_PT |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 484 | pt_PT |
| oaire.citation.startPage | 471 | pt_PT |
| oaire.citation.title | SAMS | pt_PT |
| oaire.citation.volume | 36 | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | article | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |